TOP-UAV: Open-Source Time-optimal Trajectory Planner for Point-Masses under Acceleration and Velocity Constraints (Python)

top_uav_py is a Python library to generate 3-dimensional time-optimal trajectories from an initial position and velocity vector to a final position and velocity vector with constraints on the maximum velocity and acceleration for the entire motion.

To access the C++ implementation see top_uav_cpp.

💈 Setup

#####################
# setup environment #
#####################
python -m venv ./top_uav_py_interpreter

##############################
# define used python version #
##############################
# open ./top_uav_py_interpreter/pyvenv.cfg and configure base interpreter

########################
# activate interpreter #
########################
cd ./top_uav_py_interpreter/Scripts
./activate

########################
# install requirements #
########################
cd ../../
python -m pip install --upgrade pip
pip install -r requirements.txt

🍫 Quickstart

The example in main.py generates time-optimal trajectories according to the state-of-the-art method as well as of our basic generally valid version as well as our version with improved exploitation of kinematic properties.

Run tests

To run the test, execute the following from a terminal:

pytest -v tests.py

🏫 Affiliations

Citation

If you use top_uav_py in your research, please consider citing our original paper.

@INPROCEEDINGS{10342270,
  author={Meyer, Fabian and Glock, Katharina and Sayah, David},
  booktitle={2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, 
  title={TOP-UAV: Open-Source Time-Optimal Trajectory Planner for Point-Masses Under Acceleration and Velocity Constraints}, 
  year={2023},
  volume={},
  number={},
  pages={2838-2845},
  doi={10.1109/IROS55552.2023.10342270}}